I've probably cracked it in the last 5 years after spending 20+ in absolute chaos. Key to this is that 2 of my 3 children now live elsewhere
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Other things that have helped.
Identify as an organised person with a tidy house. Its surprising how much a fake it till you make it approach helps.
Have a routine, but make it easy. My daily morning tasks are to do the dishwasher & kitchen work surfaces, check the bins, use a hand held hoover on the hard floors in the kitchen diner, shake the dog beds, make our bed, & do any laundry that needs doing.
After work Check emails & post. Treat like work. Delete it/Deal with it/add it to the diary if I need to deal with it later.
In the evening - cook dinner, make lunches for next day & load dishwasher. Repatriate any stray items that are in the wrong place.
Weekends; wash beds & towels, dust & hoover carpeted rooms, dust, hoover & mop hard floor rooms, & clean the toilets.
It sounds a lot written down, but it's probably no more than an hour a day + cooking time, and 3-4 hours at weekends. Plus, because it's mostly tidy, if we are busy, the world doesn't end if the loo doesn't get cleaned for 2 weeks.